The invention provides a vehicle exterior environment recognition device which realizes appropriate following control. The vehicle exterior environment recognition device is provided with a travel path derivation part that estimates a host vehicle travel path (210), which is the travel path of a host vehicle (1), and derives a target travel path (220) that passes through a target vehicle (3) that is the target of follow-up control and forms a parallel curve with the host vehicle travel path; a speed derivation unit that derives a target speed vector (Vs), which is a speed vector of the target vehicle; and a following control unit that performs following control on the basis of the target velocity vector if an angle [theta] formed by the target velocity vector and a target tangent line (222), which is a tangent line of the target travel path at the position of the target vehicle, is within a predetermined angle range, and performs following control on the basis of the target velocity vector if the angle [theta] is outside the predetermined angle range.
本发明提供车外环境识别装置,实现恰当的跟随控制。车外环境识别装置具备:行进路径导出部,其推定作为本车辆(1)的行进路径的本车辆行进路径(210),并且导出通过作为跟随控制的对象的对象车辆(3)且与本车辆行进路径成为平行曲线的对象行进路径(220);速度导出部,其导出作为对象车辆的速度矢量的对象速度矢量Vs;跟随控制部,如果对象速度矢量与对象行进路径的在对象车辆的位置处的切线即对象切线(222)所成的角θ在预定角度范围内,则基于对象速度矢量本身进行跟随控制,如果所述角θ在预定角度范围外,则基于对象速度矢量在对象切线的速度分量(对象切线速度分量Vt)进行跟随控制。
Vehicle exterior environment recognition device
车外环境识别装置
2021-04-06
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |